//------------------------------------------------------------------------------
//  <copyright file="CHOMPEnvironmentRepresentation.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
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//------------------------------------------------------------------------------

namespace Microsoft.Robotics.Manipulation.MotionPlanning
{
    using System.Runtime.Serialization;

    /// <summary>
    /// A base class for the environment representation for the CHOMP motion planner
    /// </summary>
    [DataContract]
    [KnownType(typeof(SDFEnvironment))]
    [KnownType(typeof(SphereEnvironment))]
    [KnownType(typeof(TableEnvironment))]
    public abstract class CHOMPEnvironmentRepresentation
    {
        /// <summary>
        /// Computes the cost and gradient at the center of a sphere (given center and radius)
        /// </summary>
        /// <param name="sphereCenter"> Center of the sphere </param>
        /// <param name="sphereRadius"> Radius of the sphere </param>
        /// <param name="epsilon"> Threshold for obstacle avoidance. We want the surface of the sphere to be at least this distance away from the nearest obstacle </param>
        /// <param name="cost"> Cost for the sphere (>= 0) </param>
        /// <param name="grad"> Gradient direction away from obstacles (at the sphere center) </param>
        /// <returns> Flag indicating if the sphere is in collision or not </returns>
        public abstract bool ComputeSphereCostandGradient(double[] sphereCenter, double sphereRadius, double epsilon, out double cost, out double[] grad);
    }
}
